Reminds me of an article I read a couple months ago. I was especially struck by this part:

This part is almost funny. Remember, the brain really hates prediction error and does its best to minimize it. With failed predictions about eg vision, there’s not much you can do except change your models and try to predict better next time. But with predictions about proprioceptive sense data (ie your sense of where your joints are), there’s an easy way to resolve prediction error: just move your joints so they match the prediction. So (and I’m asserting this, but see Chapters 4 and 5 of the book to hear the scientific case for this position) if you want to lift your arm, your brain just predicts really really strongly that your arm has been lifted, and then lets the lower levels’ drive to minimize prediction error do the rest.

Under this model, the “prediction” of a movement isn’t just the idle thought that a movement might occur, it’s the actual motor program. This gets unpacked at all the various layers – joint sense, proprioception, the exact tension level of various muscles – and finally ends up in a particular fluid movement: